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A Small Autonomous Underwater Vehicle Nnavigation
System (SANS) is being developed at the Naval Postgraduate
School. The SANS is an integrated Global Positioning
System/Inertial Navigation System (GPS/INS) navigation system
composed of low-cost and small-size components. It is designed to
demonstrate the feasibility of using a low-cost strap-down inertial
measurement unit (IMU) to navigate between intermittent GPS
fixes. The present hardware consists of a GPS/DGPS receiver,
IMU, compass, water speed sensor, water depth sensor, and a
data processing computer. The software is based on a 12-state
complementary filter that combines measurement data from all
sensors to derive a vehicle position/orientation estimate. This
paper describes hardware and software design and testing results
of the SANS. It is shown that results from tilt table testing
and bench testing provide an effective means for tuning filter
gains. Ground vehicle testing verifies the overall functioning of
the SANS and exhibits an encouraging degree of accuracy.

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